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Remove PoseEstimate. (#670) 

Replaces #620.

Depends on switching `cartographer_ros` to use the new callback API for handling the last scan and pose estimate (googlecartographer/cartographer_ros#594).
master
Juraj Oršulić 2017-11-17 16:47:06 +01:00 committed by Wally B. Feed
parent aba4575d93
commit 31f28b5097
10 changed files with 0 additions and 77 deletions
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4
cartographer/mapping/collated_trajectory_builder.cc
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@ -46,10 +46,6 @@ CollatedTrajectoryBuilder::CollatedTrajectoryBuilder(
CollatedTrajectoryBuilder::~CollatedTrajectoryBuilder() {}
const PoseEstimate& CollatedTrajectoryBuilder::pose_estimate() const {
return wrapped_trajectory_builder_->pose_estimate();
}
void CollatedTrajectoryBuilder::AddSensorData(
const std::string& sensor_id, std::unique_ptr<sensor::Data> data) {
sensor_collator_->AddSensorData(trajectory_id_, sensor_id, std::move(data));

2
cartographer/mapping/collated_trajectory_builder.h
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@ -49,8 +49,6 @@ class CollatedTrajectoryBuilder : public TrajectoryBuilder {
CollatedTrajectoryBuilder& operator=(const CollatedTrajectoryBuilder&) =
delete;
const PoseEstimate& pose_estimate() const override;
void AddSensorData(const std::string& sensor_id,
std::unique_ptr<sensor::Data> data) override;

4
cartographer/mapping/global_trajectory_builder.h
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@ -42,10 +42,6 @@ class GlobalTrajectoryBuilder
GlobalTrajectoryBuilder(const GlobalTrajectoryBuilder&) = delete;
GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
const mapping::PoseEstimate& pose_estimate() const override {
return local_trajectory_builder_.pose_estimate();
}
void AddRangefinderData(const common::Time time,
const Eigen::Vector3f& origin,
const sensor::TimedPointCloud& ranges) override {

2
cartographer/mapping/global_trajectory_builder_interface.h
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@ -49,8 +49,6 @@ class GlobalTrajectoryBuilderInterface {
GlobalTrajectoryBuilderInterface& operator=(
const GlobalTrajectoryBuilderInterface&) = delete;
virtual const PoseEstimate& pose_estimate() const = 0;
virtual void AddRangefinderData(common::Time time,
const Eigen::Vector3f& origin,
const sensor::TimedPointCloud& ranges) = 0;

43
cartographer/mapping/pose_estimate.h
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@ -1,43 +0,0 @@
/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_POSE_ESTIMATE_H_
#define CARTOGRAPHER_MAPPING_POSE_ESTIMATE_H_
#include "cartographer/common/time.h"
#include "cartographer/sensor/point_cloud.h"
#include "cartographer/transform/rigid_transform.h"
namespace cartographer {
namespace mapping {
// Represents a newly computed pose. 'pose' is the end-user visualization of
// orientation and 'point_cloud' is the point cloud, in the local map frame.
struct PoseEstimate {
PoseEstimate() = default;
PoseEstimate(common::Time time, const transform::Rigid3d& pose,
const sensor::PointCloud& point_cloud)
: time(time), pose(pose), point_cloud(point_cloud) {}
common::Time time = common::Time::min();
transform::Rigid3d pose = transform::Rigid3d::Identity();
sensor::PointCloud point_cloud;
};
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_POSE_ESTIMATE_H_

4
cartographer/mapping/trajectory_builder.h
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@ -40,16 +40,12 @@ proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
// This interface is used for both 2D and 3D SLAM.
class TrajectoryBuilder {
public:
using PoseEstimate = mapping::PoseEstimate;
TrajectoryBuilder() {}
virtual ~TrajectoryBuilder() {}
TrajectoryBuilder(const TrajectoryBuilder&) = delete;
TrajectoryBuilder& operator=(const TrajectoryBuilder&) = delete;
virtual const PoseEstimate& pose_estimate() const = 0;
virtual void AddSensorData(const std::string& sensor_id,
std::unique_ptr<sensor::Data> data) = 0;

5
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -169,7 +169,6 @@ LocalTrajectoryBuilder::AddAccumulatedRangeData(
sensor::RangeData range_data_in_local =
TransformRangeData(gravity_aligned_range_data,
transform::Embed3D(pose_estimate_2d->cast<float>()));
last_pose_estimate_ = {time, pose_estimate, range_data_in_local.returns};
std::unique_ptr<InsertionResult> insertion_result =
InsertIntoSubmap(time, range_data_in_local, gravity_aligned_range_data,
pose_estimate, gravity_alignment.rotation());
@ -214,10 +213,6 @@ LocalTrajectoryBuilder::InsertIntoSubmap(
std::move(insertion_submaps)});
}
const mapping::PoseEstimate& LocalTrajectoryBuilder::pose_estimate() const {
return last_pose_estimate_;
}
void LocalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) {
CHECK(options_.use_imu_data()) << "An unexpected IMU packet was added.";
InitializeExtrapolator(imu_data.time);

4
cartographer/mapping_2d/local_trajectory_builder.h
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@ -60,8 +60,6 @@ class LocalTrajectoryBuilder {
LocalTrajectoryBuilder(const LocalTrajectoryBuilder&) = delete;
LocalTrajectoryBuilder& operator=(const LocalTrajectoryBuilder&) = delete;
const mapping::PoseEstimate& pose_estimate() const;
// Returns 'MatchingResult' when range data accumulation completed,
// otherwise 'nullptr'. Range data must be approximately horizontal
// for 2D SLAM.
@ -96,8 +94,6 @@ class LocalTrajectoryBuilder {
const proto::LocalTrajectoryBuilderOptions options_;
ActiveSubmaps active_submaps_;
mapping::PoseEstimate last_pose_estimate_;
mapping_3d::MotionFilter motion_filter_;
scan_matching::RealTimeCorrelativeScanMatcher
real_time_correlative_scan_matcher_;

6
cartographer/mapping_3d/local_trajectory_builder.cc
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@ -173,8 +173,6 @@ LocalTrajectoryBuilder::AddAccumulatedRangeData(
sensor::RangeData filtered_range_data_in_local = sensor::TransformRangeData(
filtered_range_data_in_tracking, pose_estimate.cast<float>());
last_pose_estimate_ = {time, pose_estimate,
filtered_range_data_in_local.returns};
std::unique_ptr<InsertionResult> insertion_result = InsertIntoSubmap(
time, filtered_range_data_in_local, filtered_range_data_in_tracking,
high_resolution_point_cloud_in_tracking,
@ -194,10 +192,6 @@ void LocalTrajectoryBuilder::AddOdometryData(
extrapolator_->AddOdometryData(odometry_data);
}
const mapping::PoseEstimate& LocalTrajectoryBuilder::pose_estimate() const {
return last_pose_estimate_;
}
std::unique_ptr<LocalTrajectoryBuilder::InsertionResult>
LocalTrajectoryBuilder::InsertIntoSubmap(
const common::Time time,

3
cartographer/mapping_3d/local_trajectory_builder.h
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@ -65,7 +65,6 @@ class LocalTrajectoryBuilder {
std::unique_ptr<MatchingResult> AddRangeData(
common::Time time, const sensor::TimedRangeData& range_data);
void AddOdometryData(const sensor::OdometryData& odometry_data);
const mapping::PoseEstimate& pose_estimate() const;
private:
std::unique_ptr<MatchingResult> AddAccumulatedRangeData(
@ -83,8 +82,6 @@ class LocalTrajectoryBuilder {
const proto::LocalTrajectoryBuilderOptions options_;
ActiveSubmaps active_submaps_;
mapping::PoseEstimate last_pose_estimate_;
MotionFilter motion_filter_;
std::unique_ptr<scan_matching::RealTimeCorrelativeScanMatcher>
real_time_correlative_scan_matcher_;